import rclpy
from rclpy.node import Node
import tf2_ros
from geometry_msgs.msg import TransformStamped
from sensor_msgs.msg import Imu,NavSatFix
from nav_msgs.msg import Odometry

class Hybrid_localizer(Node):
    '''
        融合定位节点，传感器列表：
        GNSS定位+陀螺仪定位+里程计定位
        采用分时互补滤波法
    '''
    def __init__(self):
        super().__init__('hybrid_localizer')
        self.gps_receiver=self.create_subscription(NavSatFix,"gps",self.GPSHandler)

        #   TF坐标系相关
        self.tf_publisher=tf2_ros.TransformBroadcaster(self)    #   坐标发布接口
        self.tf_cache=TransformStamped()


    def GPSHandler(self):
        '''
            处理GPS数据
        '''
        pass

    def ImuHandler(self):
        '''
            处理IMU数据
        '''
        pass

    def OdomHandler(self):
        '''
            处理里程计数据
        '''
        pass